We update and extend to larger masses our previous analysis of the MSSM with minimal $SO_{10}$ [MSO$_{10}$SM] soft SUSY breaking boundary conditions. We find a well--defined, narrow region of parameter space which provides the observed relic density of dark matter, in a domain selected to fit precision electroweak data, including top, bottom and tau masses. The model is highly constrained which allows us to make several predictions. We find the light Higgs mass $m_h \leq 121 \pm 3$ GeV and also upper bounds on the mass of the gluino $\mgluino\lsim3.1$ TeV and lightest neutralino $\mchi\lsim450$ GeV. As the CP odd Higgs mass $m_A$ increases, the region of parameter space consistent with WMAP data is forced to larger values of $M_{1/2}$ and smaller values of $m_h$. Hence, we find an upper bound $m_A \lsim 1.3$ TeV. This in turn leads to lower bounds on ${\rm BR}(B_s\to \mu^+ \mu^-) > 10^{-8}$ (assuming minimal flavor violation) and on the dark matter spin independent detection cross section $\sigsip > 10^{-9}$ pb. Finally, we extend our previous analysis to include WIMP signals in indirect detection and find prospects for WIMP detection generally much less promising than in direct WIMP searches.